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simplified and tested

This commit is contained in:
Martin Diehl 2020-05-16 00:58:40 +02:00
parent dc508cdfce
commit 2dc46b783a
2 changed files with 9 additions and 5 deletions
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7
python/damask/_rotation.py
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@ -112,11 +112,8 @@ class Rotation:
B = 2.0 * np.dot(self.quaternion[1:],other) B = 2.0 * np.dot(self.quaternion[1:],other)
C = 2.0 * _P*self.quaternion[0] C = 2.0 * _P*self.quaternion[0]
return np.array([ return A*other + B*self.quaternion[1:] + C * np.cross(self.quaternion[1:],other)
A*other[0] + B*self.quaternion[1] + C*(self.quaternion[2]*other[2] - self.quaternion[3]*other[1]),
A*other[1] + B*self.quaternion[2] + C*(self.quaternion[3]*other[0] - self.quaternion[1]*other[2]),
A*other[2] + B*self.quaternion[3] + C*(self.quaternion[1]*other[1] - self.quaternion[2]*other[0]),
])
elif other.shape == (3,3,): # rotate a single (3x3)-matrix elif other.shape == (3,3,): # rotate a single (3x3)-matrix
return np.dot(self.asMatrix(),np.dot(other,self.asMatrix().T)) return np.dot(self.asMatrix(),np.dot(other,self.asMatrix().T))
elif other.shape == (3,3,3,3,): elif other.shape == (3,3,3,3,):

7
python/tests/test_Rotation.py
View File

@ -300,3 +300,10 @@ class TestRotation:
f = Rotation._get_pyramid_order(a,'forward') f = Rotation._get_pyramid_order(a,'forward')
b = Rotation._get_pyramid_order(a,'backward') b = Rotation._get_pyramid_order(a,'backward')
assert np.all(np.take_along_axis(np.take_along_axis(a,f,-1),b,-1) == a) assert np.all(np.take_along_axis(np.take_along_axis(a,f,-1),b,-1) == a)
@pytest.mark.parametrize('x',[np.random.rand(3),
np.random.rand(3,3)])
def test_rotation_identity(self,x):
R = Rotation()
assert np.allclose(x,R*x)